Surface preparation support apparatus and method

ABSTRACT

A surface preparation support apparatus includes a creeper and a linear actuator. The linear actuator includes a base-end and a tool-end that is opposite the base-end. The base-end is coupled to the creeper. The tool-end is linearly movable relative to the base-end. A surface preparation tool is coupleable to the tool-end of the linear actuator. The surface preparation support apparatus also includes an actuator-controller. The actuator-controller is coupled to the linear actuator. The actuator-controller is operable to selectively actuate the linear actuator. The surface preparation support apparatus further includes a tool-controller. The tool-controller is configured to be coupled to the surface preparation tool. The tool-controller is operable to selectively energize the surface preparation tool.

FIELD

The present disclosure relates generally to surface preparation and,more particularly, to surface preparation support apparatuses andmethods of making and operating the same.

BACKGROUND

Various types of surface preparation tools are used to prepare a surfacefor a particular application. Examples of such surface preparation toolsinclude sanders, grinders, and polishers. A known application of asurface preparation tool is preparing a low-profile surface, such as anunderside or underbelly structure of an aircraft. Low-profile surfacepreparation can pose several ergonomic challenges for a person operatingthe surface preparation tool. For example, surface preparationoperations can present the risk of repetitive motion injuries to theneck, shoulder, wrist, and/or lower back of an operator of the surfacepreparation tool. Accordingly, those skilled in the art continue withresearch and development efforts in the field of low-profile surfacepreparation and, as such, apparatuses and methods intended to addressthe above-identified concerns, would find utility

SUMMARY

The following is a non-exhaustive list of examples, which may or may notbe claimed, of the subject matter according to the present disclosure.

In an example, a disclosed surface preparation support apparatusincludes a creeper and a linear actuator. The linear actuator includes abase-end and a tool-end that is opposite the base-end. The base-end iscoupled to the creeper. The tool-end is linearly movable relative to thebase-end. A surface preparation tool is coupleable to the tool-end ofthe linear actuator. The surface preparation support apparatus alsoincludes an actuator-controller. The actuator-controller is coupled tothe linear actuator. The actuator-controller is operable to selectivelyactuate the linear actuator. The surface preparation support apparatusfurther includes a tool-controller. The tool-controller is configured tobe coupled to the surface preparation tool. The tool-controller isoperable to selectively energize the surface preparation tool.

In another example, the disclosed surface preparation support apparatusincludes a creeper and a linear actuator. The linear actuator includes abase-end. The base-end is coupled to the creeper. The linear actuatoralso includes a tool-end. The tool-end is opposite the base-end. Thetool-end is linearly movable relative to the base-end. The surfacepreparation support apparatus also includes a tool-mount. The tool-mountis coupled to the tool-end of the linear actuator. A surface preparationtool is coupleable to the tool-mount. The surface preparation supportapparatus further includes an actuator-controller. Theactuator-controller is coupled to the linear actuator. Theactuator-controller is operable to selectively actuate the linearactuator. The surface preparation support apparatus additionallyincludes a tool-controller. The tool-controller is configured to becoupled to the surface preparation tool. The tool-controller is operableto selectively energize the surface preparation tool.

In an example, a disclosed method of making a surface preparationsupport apparatus includes steps of: (1) coupling a base-end of a linearactuator to a creeper; (2) coupling an actuator-controller to the linearactuator, in which the actuator-controller is operable to selectivelyactuate the linear actuator such that the tool-end of the linearactuator moves relative to the base-end of the linear actuator; (3)coupling a tool-mount to the tool-end of the linear actuator, in whichthe tool-mount is configured for attachment of a surface preparationtool; (4) configuring a tool-controller to be coupled to the surfacepreparation tool, in which the tool-controller is operable toselectively energize the surface preparation tool.

In an example, a disclosed method of preparing a low-profile surfaceincludes steps of: (1) moving a creeper underneath the low-profilesurface; (2) moving a surface preparation tool, coupled to a tool-end ofa linear actuator, into operational contact with the low-profile surfaceby selectively actuating the linear actuator to move the tool-end of thelinear actuator away from a base-end of the linear actuator that iscoupled to the creeper; and (3) with the surface preparation tool inoperational contact with the low-profile surface, selectively energizingthe surface preparation tool.

Other examples of the disclosed apparatus and methods will becomeapparent from the following detailed description, the accompanyingdrawings, and the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic, perspective view of an example of a surfacepreparation support apparatus;

FIG. 2 is a schematic, side elevation view of an example of the surfacepreparation support apparatus, depicted underneath a low-profilesurface;

FIG. 3 is a schematic, top plan view of an example of the surfacepreparation support apparatus;

FIG. 4 is a schematic, side elevation view of an example of the surfacepreparation support apparatus, depicted underneath a low-profile surfacewith a surface preparation tool in contact with the low-profile surface;

FIG. 5 is a schematic illustration of an example of a linear actuator ofthe surface preparation support apparatus;

FIG. 6 is a schematic illustration of another example of the linearactuator of the surface preparation support apparatus;

FIG. 7 is a schematic illustration of an example of a control system ofthe surface preparation support apparatus;

FIG. 8 is a schematic, perspective view of an example of a surfacepreparation tool coupled to the linear actuator of the surfacepreparation support apparatus;

FIG. 9 is a schematic, perspective view of an example of a tool-mount ofthe surface preparation support apparatus;

FIG. 10 is a schematic, perspective view of an example of the surfacepreparation support apparatus;

FIG. 11 is a flow diagram of an example of a method of making a surfacepreparation support apparatus;

FIG. 12 is a flow diagram of an example of a method of preparing alow-profile surface;

FIG. 13 is a flow diagram of an aircraft manufacturing and servicemethodology; and

FIG. 14 is a schematic block diagram of an example of an aircraft.

DETAILED DESCRIPTION

The following detailed description refers to the accompanying drawings,which illustrate specific examples described by the present disclosure.Other examples having different structures and operations do not departfrom the scope of the present disclosure. Like reference numerals mayrefer to the same feature, element, or component in the differentdrawings.

Illustrative, non-exhaustive examples, which may be, but are notnecessarily, claimed, of the subject matter according the presentdisclosure are provided below. Reference herein to “example” means thatone or more feature, structure, element, component, characteristic,and/or operational step described in connection with the example isincluded in at least one aspect, embodiment, and/or implementation ofthe subject matter according to the present disclosure. Thus, thephrases “an example,” “another example,” “one or more examples,” andsimilar language throughout the present disclosure may, but do notnecessarily, refer to the same example. Further, the subject mattercharacterizing any one example may, but does not necessarily, includethe subject matter characterizing any other example. Moreover, thesubject matter characterizing any one example may be, but is notnecessarily, combined with the subject matter characterizing any otherexample.

Referring generally to FIGS. 1-9 , by way of examples, the presentdisclosure is directed to a surface preparation support apparatus 100,referred to generally herein as “apparatus.” The disclosed apparatus 100provides support and mobility for a surface preparation tool 110 that iscapable of being controlled by a user (e.g., a technician, mechanic, oroperator), while the user is in a supine position and is performing asurface preparation operation on a low-profile surface 200 (FIGS. 2 and4 ) of a structure 202. The disclosed apparatus 100 mitigates safety andergonomic challenges associated with surface preparation operations oflow-profile surfaces.

For the purpose of the present disclosure, a “low-profile surface”refers to any worksurface of a structure that is located relativelyclose to the ground, such as that is located lower than is usual forobjects of its type. For example, the low-profile surface 200 is asurface that is less than approximately 5 feet (1.5 meters) off theground, such as less than approximately 3 feet (1 meter) off the ground.In one or more examples, the structure 202 is an aircraft and thelow-profile surface 200 is an underside or underbelly surface of theaircraft.

Generally, the low-profile surface 200 is horizontal, such asapproximately parallel to the ground, or is oriented at an acute anglerelative to a horizontal plane, such as sloping toward or away from theground. In some examples, one or more portions of the low-profilesurface 200 is horizontal and one or more other portions of thelow-profile surface 200 is oriented at an acute angle relative to thehorizontal plane. In one or more examples, the low-profile surface 200is substantially planar (e.g., has a substantially planar surfacegeometry). In one or more examples, the low-profile surface 200 iscomplex (e.g., has a complex surface geometry) or includes variouscontours (e.g., has a contoured surface geometry).

Throughout the present disclosure, the terms “horizontal” and “vertical”refer to a respective orientation relative to level ground. The termshorizontal and vertical include conditions in which the orientation isexactly horizontal or vertical and conditions in which the orientationif approximately horizontal or vertical.

Referring to FIGS. 1-4 , the apparatus 100 includes a creeper 102 and alinear actuator 104. The linear actuator 104 is coupled to the creeper102 and is movable relative to the creeper 102. The surface preparationtool 110 is coupled to the linear actuator 104. The linear actuator 104is coupled to the creeper 102 via a movable joint 164. The movable joint164 is configured to enable the linear actuator 104 to at least one ofmove (e.g., translate) along a linear-motion axis 120, rotate about arotational-motion axis 118, and/or pivot about a pivotal-motion axis 116relative to the creeper 102.

Generally, during a surface preparation operation, the apparatus 100enables the surface preparation tool 110 to be placed into operationalcontact with the low-profile surface 200 upon which the surfacepreparation operation is to be performed. As used herein, the term“operational contact” refers to a condition in which the surfacepreparation tool 110 is in direct contact with the low-profile surface200 under appropriate force such that the surface preparation operation(e.g., sanding, grinding, polishing, and the like) can be performed.With the surface preparation tool 110 in operational contact with thelow-profile surface 200, the apparatus 100 enables movement of thesurface preparation tool 110 relative to the low-profile surface 200.

As illustrated in FIGS. 2 and 4 , with the apparatus 100 positionedunderneath the low-profile surface 200, the apparatus 100 enables thesurface preparation tool 110 to be translated along an axis relative tothe low-profile surface 200 and enables the linear actuator 104 to betranslated along an axis, rotated about an axis, and/or pivoted about anaxis relative to the low-profile surface 200 under control of the user(not shown).

In one or more example implementations of the surface preparationoperation, the user, operating the surface preparation tool 110, issupported by the creeper 102 in the supine position. The creeper 102enables the user to move relative to the low-profile surface 200 of thestructure 202 (FIGS. 2 and 4 ) and to position the surface preparationtool 110 relative to the low-profile surface 200, such as underneath thelow-profile surface 200. The linear actuator 104 enables the surfacepreparation tool 110 to be selectively moved (e.g., raised and lowered)relative to the low-profile surface 200, such as moved into operationalcontact with the low-profile surface 200.

As such, the surface preparation tool 110 is moved into and out ofoperational contact with the low-profile surface 200 via extension ofthe linear actuator 104. Use of the linear actuator 104 to raise andlower the surface preparation tool 110 relative to the low-profilesurface 200 reduces repeated motions of the user that are typicallyassociated with manual surface preparation operations performed on alow-profile surface. In one or more examples, the surface preparationtool 110 is also held in operational contact with the low-profilesurface 200 via of the linear actuator 104 (e.g., in an approximatelyextended state). Use of the linear actuator 104 to hold the surfacepreparation tool 110 in operational contact with the low-profile surface200 reduces physical strain on the user that is typically associatedwith manual surface preparation operations performed on a low-profilesurface.

With the surface preparation tool 110 in operational contact with thelow-profile surface 200, the apparatus 100 enables the user toselectively energize the surface preparation tool 110 and initiate thesurface preparation operation. With the surface preparation tool 110 inoperational contact with the low-profile surface 200, the movable joint164 enables the user to move the linear actuator 104 relative to thecreeper 102, which, in turn, moves the surface preparation tool 110relative to the low-profile surface 200, such as across the low-profilesurface 200, during the surface preparation operation.

The creeper 102 includes any one of various types of low-profile,wheeled platforms that enables the user to lay in the supine position(e.g., facing generally upward) and maneuver under the structure 202being worked on while remaining in the supine position.

In one or more examples, the creeper 102 includes a frame 150 and aplurality of wheel assemblies 152, coupled to the frame 150. The frame150 is freely mobile on a support surface, such as the ground or workfloor of a manufacturing environment, via the wheel assemblies 152. Inone or more examples, the wheel assemblies 152 are located on opposinglateral sides and/or longitudinal ends of the frame 150. In one or moreexamples, at least one of the wheel assemblies 152 is configured to beselectively locked, in which the frame 150 is rendered immobile, orselectively unlocked, in which the frame 150 is rendered mobile. In oneor more examples, each one of the wheel assemblies 152 includes a casterassembly.

In one or more examples, the creeper 102 includes a body pad 154. Thebody pad 154 is coupled to the frame 150. In one or more examples, thebody pad 154 includes an upper body-pad section 156 and a lower body-padsection 158. The upper body-pad section 156 and the lower body-padsection 158 are coupled to the frame 150. Generally, the upper body-padsection 156 is designed to receive the upper body of the user from thewaist up and the lower body-pad section 158 is designed to receive atleast the upper portion of the legs of the user. In one or moreexamples, the body pad 154 includes a headrest 160 that is coupled tothe upper body-pad section 156. The headrest 160 is designed to receivethe head of the user.

In one or more examples, the upper body-pad section 156 is pivotable(e.g., configured to pivot or capable of being pivoted) relative to thelower body-pad section 158 and/or relative to the frame 150. Forexample, the upper body-pad section 156 is pivotally movable between andis configured to be selectively fixed at a horizontal position (e.g.,approximately parallel to the frame 150) and at least one non-horizontalposition (e.g., at a non-zero angle relative to the frame 150). In oneor more examples, the upper body-pad section 156 and the lower body-padsection 158 are longitudinally spaced from each other to provideclearance so that the upper body-pad section 156 can be pivoted.

The linear actuator 104 is supported by the creeper 102, which rendersmobile the linear actuator 104 on the support surface (e.g., theground). The linear actuator 104 includes a translation axis 204.Generally, the translation axis 204 is a longitudinal axis or a centralaxis of the linear actuator 104. The linear actuator 104 includes abase-end 106 and a tool-end 108. The tool-end 108 is opposite thebase-end 106 along the translation axis 204.

In one or more examples, the creeper 102 includes a head-end 146 and afoot-end 148 that is opposite the head-end 146. The linear actuator 104is coupled to the foot-end 148 of the creeper 102. In one or moreexamples, the base-end 106 of the linear actuator 104 is coupled to thecreeper 102. For example, the base-end 106 of the linear actuator 104 iscoupled to the foot-end 148 of the creeper 102 via the movable joint164.

The tool-end 108 of the linear actuator 104 is linearly movable relativeto the base-end 106 of the linear actuator 104. For example, thetool-end 108 moves (e.g., translates) along the translation axis 204relative to the base-end 106. In one or more examples, the linearactuator 104 is configured to be selectively positioned in a retractedstate (e.g., retracted position), in which the tool-end 108 is movedtoward the base-end 106, and an extended state (e.g., extendedposition), in which the tool-end 108 is moved away from the base-end106.

For the purpose of the present disclosure, the terms “retracted state,”“retracted position,” “extended state,” “extended position” and similarterms refer to the operating positions of the linear actuator 104, suchas to the operating positions of the tool-end 108 relative to thebase-end 106 or the operating positions of the surface preparation tool110 relative to the low-profile surface 200. In one or more examples,the retracted state refers to a fully retracted position of the linearactuator 104 in which the tool-end 108 is fully retracted relative tothe base-end 106. In one or more examples, the retracted state refers toa retracted position of the linear actuator 104 in which the surfacepreparation tool 110 is not in operational contact with the low-profilesurface 200. In one or more examples, the extended state refers to anyposition other than the retracted position, such as a partially extendedposition or fully extended position of the linear actuator 104 in whichthe tool-end 108 is extended at least some distance relative to thebase-end 106. In one or more examples, the extended state refers to anextended position of the linear actuator 104 in which the surfacepreparation tool 110 is in operational contact with the low-profilesurface 200.

The linear actuator 104 includes, or is driven by, any one of varioustypes of automatic actuators that creates motion in a straight line andis capable of being driven by any one of a variety of energy sources. Inone or more examples, the linear actuator 104 includes, or is driven by,a pneumatic actuator that is powered by application of pressurized airfrom a source of compressed air, such as a compressed air source 162(FIG. 7 ). In one or more examples, the linear actuator 104 includes, oris driven by, a mechanical or electro-mechanical actuator that ispowered by application of electricity from a power supply. In one ormore examples, the linear actuator 104 includes, or is driven by, ahydraulic actuator that is powered by application of pressurized liquidfrom a compressed liquid source. A pneumatically powered linear actuator104 may be particularly advantageous in certain manufacturingenvironments where electrical or mechanical components are undesirable.

In various examples of the disclosed apparatus 100, the surfacepreparation tool 110 is coupleable (e.g., is configured to be coupled toor is capable of being coupled to) to the tool-end 108 of the linearactuator 104. With the surface preparation tool 110 coupled to thelinear actuator 104, the surface preparation tool 110 is linearlymoveable (e.g., raised and lowered) relative to the creeper 102 andrelative to the low-profile surface 200 of the structure 202 (FIGS. 2and 4 ) via the linear actuator 104. For example, with the creeper 102located under the structure 202, the surface preparation tool 110 ismoved in proximity to or into operational contact with the low-profilesurface 200 via extending the linear actuator 104 and is moved away fromor out of operational contact with the low-profile surface 200 viaretracting the linear actuator 104. In one or more examples, theapparatus 100 includes the surface preparation tool 110.

The surface preparation tool 110 includes any one of various types oftools configured to perform one or more surface preparing or surfacefinishing operations. In one or more examples, the surface preparationtool 110 is a rotary surface preparation tool. As an example, thesurface preparation tool 110 includes, or takes the form of, a rotarysander used to perform a sanding operation on the low-profile surface200 (FIGS. 2 and 4 ). As another example, the surface preparation tool110 includes, or takes the form of, a rotary polisher used to perform apolishing operation on the low-profile surface 200. As another example,the surface preparation tool 110 includes, or takes the form of, arotary grinder used to perform a grinding operation on the low-profilesurface.

The surface preparation tool 110 includes any one of various types ofautomatic (e.g., “power”) tools and is capable of being powered by anyone of a variety of energy sources. In one or more examples, the surfacepreparation tool 110 is a pneumatic power tool that is powered byapplication of pressurized air from a source of compressed air, such asthe compressed air source 162 (FIG. 7 ). In one or more examples, thesurface preparation tool 110 is an electric power tool that is poweredby application of electricity from an electric power supply. Apneumatically powered surface preparation tool may be particularlyadvantageous in certain manufacturing environments where electrical ormechanical components are undesirable. Further, when both the surfacepreparation tool 110 and the linear actuator 104 are pneumaticallypowered, a shared, or common, source of compressed air (e.g., thecompressed air source 162) may be used.

In one or more examples, the linear actuator 104 is pivotally movablerelative to the creeper 102 about the pivotal-motion axis 116 (FIGS. 1and 3 ). In one or more examples, the pivotal-motion axis 116 ishorizontal.

In one or more examples, the apparatus 100 includes a pivotal coupling122. The pivotal coupling 122 is an example of the movable joint 164 orforms a portion of the movable joint 164. The pivotal coupling 122 formsthe pivotal-motion axis 116. In these examples, the linear actuator 104is coupled to the creeper 102 and is pivotable about the pivotal-motionaxis 116 relative to the creeper 102 via the pivotal coupling 122. Inone or more examples, the pivotal coupling 122 is coupled to the creeper102 and the base-end 106 of the linear actuator 104 is coupled to thepivotal coupling 122.

The pivotal coupling 122 includes, or takes the form of, any suitablemechanical device that is configured to join two components and enableone of the components to pivot about an axis relative to the othercomponent. In one or more examples, the pivot coupling 122 includes, ortakes the form of, a pivot joint, such as a clevis joint.

The pivotal coupling 122 enables the surface preparation tool 110 tomove in a vertical direction (e.g., generally upward and downwardmotion) via pivoting the linear actuator 104 about the pivotal-motionaxis 116 under control of the user. In other words, with the surfacepreparation tool 110 in operational contact with the low-profile surface200, pivotal movement of the linear actuator 104 about thepivotal-motion axis 116 results in movement of the surface preparationtool 110 in the vertical direction without requiring further extensionor retraction of the linear actuator 104.

In one or more examples, the geometry of the low-profile surface 200,the slope of the low-profile surface 200, and/or the contour of thelow-profile surface 200 may vary in one or more directions. In otherwords, the vertical location of one or more portions of the low-profilesurface 200 may be different than one or more other portions of thelow-profile surface 200. As such, the vertical location of the surfacepreparation tool 110 may need to vary to accommodate variations in thegeometry, slope, and/or contour of low-profile surface 200, to maintainthe surface preparation tool 110 in operational contact with thelow-profile surface 200 as the surface preparation tool 110 is movedacross the low-profile surface 200, or to avoid obstructions on thelow-profile surface 200. As previously expressed, with the surfacepreparation tool 110 in operational contact with the low-profile surface200, the surface preparation tool 110 is moved across the low-profilesurface 200 under control of the user.

In one or more examples, the vertical location of a portion of thelow-profile surface 200 may decrease, such as due to a downward slopingportion or a convex portion of the low-profile surface 200. As thevertical location of a portion of the low-profile surface 200 decreases,a reaction force is applied to the surface preparation tool 110 by thelow-profile surface 200, which pushes the surface preparation tool 110downward and, thus, pivots the linear actuator 104 in a downwarddirection. In these examples, the surface preparation tool 110 is heldin operational contact with the low-profile surface 200 via the linearactuator 104, without retraction of the linear actuator 104, and ismoved across the low-profile surface 200 via the user.

In one or more examples, the vertical location of a portion of thelow-profile surface 200 may increase, such as due to an upward slopingportion or a concave portion of the low-profile surface 200. As thevertical location of a portion of the low-profile surface 200 increases,a user force is applied to the linear actuator 104 by the user, whichpivots the linear actuator 104 in an upward direction and, thus, pushesthe surface preparation tool 110 upward. In these examples, the surfacepreparation tool 110 is held in operational contact with the low-profilesurface 200 via the user, without further extension of the linearactuator 104, and is moved across the low-profile surface 200 via theuser.

In one or more examples, the low-profile surface 200 may include one ormore surface features (not illustrated). Such surface features mayproject (e.g., outwardly) from the low-profile surface 200 or may depend(e.g., inwardly) from low-profile surface 200. In these examples, suchsurface features may present an obstacle or obstruction in a path of thesurface preparation tool 110 and, as such, it may be desirable to avoidsuch surface features. As the surface preparation tool 110 approachesthe surface feature, a user force may be applied to the linear actuator104 by the user, which pivots the linear actuator 104 in the downwarddirection and, thus, pulls the surface preparation tool 110 downwardaway from the low-profile surface 200. In these examples, the surfacepreparation tool 110 is temporarily removed from operational contactwith the low-profile surface 200 via the user, without retraction of thelinear actuator 104.

After avoiding the surface feature, the surface preparation tool 110 isrepositioned back into operation contact with the low-profile surface200. In one or more examples, a user force is applied to the linearactuator 104 by the user, which pivots the linear actuator 104 in theupward direction and, thus, pushes the surface preparation tool 110upward into operation contact with the low-profile surface 200.Alternatively, as will be described in more detail here below, in one ormore examples, a bias force is applied to the linear actuator 104, whichpivots the linear actuator 104 in the upward direction and, thus, pushesthe surface preparation tool 110 upward into operation contact with thelow-profile surface 200.

Referring to FIGS. 1-6 , in one or more examples, the apparatus 100includes a biasing device 128. The biasing device 128 is configured tobias, or maintain, the linear actuator 104 at a (e.g., desired) biasedangular orientation relative to a horizontal plane (e.g., that containsthe pivotal-motion axis 116). In one or more examples, the biasingdevice 128 biases the linear actuator 104 at the biased angularorientation of between approximately 30-degrees and approximately60-degrees above the horizontal plane. In one or more examples, thebiasing device 128 biases the linear actuator 104 at the biased angularorientation of approximately 45-degrees above the horizontal plane.

In one or more examples, the biasing device 128 is coupled to (e.g., iscoupled between) the linear actuator 104 and to the creeper 102. In oneor more examples, the biasing device 128 is coupled to (e.g., is coupledbetween) the linear actuator 104 and to the movable joint 164. In one ormore examples, the biasing device 128 is coupled to (e.g., is coupledbetween) the pivotal coupling 122 and to the linear actuator 104.

The biasing device 128 is configured to permit upward pivotable movementof the linear actuator 104 to an angular orientation greater than thebiased angular orientation (e.g., greater than approximately 45 degrees)relative to the generally horizontal plane. For example, the biasingdevice 128 enables the linear actuator 104 to pivot away from thecreeper 102 and toward the low-profile surface 200 in response to theuser force pushing on the linear actuator 104 to raise the surfacepreparation tool 110 without further extension of the linear actuator104. The biasing device 128 is configured to automatically return thelinear actuator 104 to the biased angular orientation (e.g., uponremoval of the user force).

The biasing device 128 is configured to permit downward pivotablemovement of the linear actuator 104 to an angular orientation less thanthe biased angular orientation (e.g., less than approximately 45degrees). For example, the biasing device 128 enables the linearactuator 104 to pivot toward from the creeper 102 and away thelow-profile surface 200 in response to the user force pulling on thelinear actuator 104 or the reaction force from the low-profile surface200 pushing on the surface preparation tool 110 to lower the surfacepreparation tool 110 without retraction of the linear actuator 104. Thebiasing device 128 is configured to automatically return the linearactuator 104 to the biased angular orientation (e.g., upon removal ofthe user force or the reaction force).

The biasing device 128 may also serve as a stop that limits pivotalmovement of the linear actuator 104 about the pivotal-motion axis 116 orotherwise set a limit for the angular orientation of the linear actuator104 relative to the creeper 102.

In one or more examples, the biasing device 128 is configured to preventthe linear actuator 104 from approaching or falling below a lower-limitangular orientation relative to the horizontal plane during downwardpivotal movement of the linear actuator 104 about the pivotal-motionaxis 116 (e.g., toward the creeper 102). In one or more examples, thebiasing device 128 prevents the linear actuator 104 from pivoting belowthe lower-limit angular orientation of approximately 30-degrees relativeto the horizontal plane. Accordingly, the biasing device 128 preventsthe linear actuator 104 and/or the surface preparation tool 110 fromfalling into contact with the user or the creeper 102 at any time theuser force is not being applied to the linear actuator 104 (e.g., whenthe user is not actively engaging or holding the linear actuator 104).

In one or more examples, the biasing device 128 is configured to preventthe linear actuator 104 from approaching or raising above an upper-limitangular orientation relative to the generally horizontal plane (e.g.,that contains the pivotal-motion axis 116) during upward pivotalmovement of the linear actuator 104 about the pivotal-motion axis 116(e.g., away from the creeper 102). In one or more examples, the biasingdevice 128 prevents the linear actuator 104 from pivoting above theupper-limit angular orientation of approximately 60-degrees relative tothe horizontal plane. Accordingly, the biasing device 128 prevents thelinear actuator 104 from reaching an over center orientation in whichthe linear actuator 104 and the surface preparation tool 110 could fallinto the work floor.

The biasing device 128 includes, or takes the form of, any suitabledevice configured to provide the bias force that acts on the linearactuator 104 when the linear actuator 104 is pivoted, upwardly ordownwardly, about the pivotal-motion axis 116 beyond the biased angularorientation relative to the horizontal plane. For example, the biasforce acts in a direction that is opposite to downward pivotal movementof the linear actuator 104 and a direction that is opposite to upwardpivotal movement of the linear actuator 104. In one or more examples,the biasing device 128 includes, or takes the form of, a mechanicaldevice, a pneumatic device, or a hydraulic device. In one or moreexamples, the biasing device 128 is a spring.

In one or more examples, the biasing device 128 is also configured todampen pivotal motion of the linear actuator 104, particularly duringdownward pivotal movement of the linear actuator 104 (e.g., in adirection toward the creeper 102). In one or more examples, the biasingdevice 128 includes, takes the form of, a mechanical dampener, pneumaticdampener, or hydraulic dampener (e.g., shock absorber).

Referring again to FIGS. 1-4 , in one or more examples, the linearactuator 104 is rotationally movable relative to the creeper 102 about arotational-motion axis 118 (FIGS. 1, 2 and 4 ). In one or more examples,the rotational-motion axis 118 is vertical.

In one or more examples, the apparatus 100 includes a rotationalcoupling 124. The rotational coupling 124 is an example of the movablejoint 164 or forms a portion of the movable joint 164. The rotationalcoupling 124 forms the rotational-motion axis 118. In these examples,the linear actuator 104 is coupled to the creeper 102 and is rotatableabout the rotational-motion axis 118 relative to creeper 102 via therotational coupling 124. In one or more examples, the rotationalcoupling 124 is coupled to the creeper 102 and the base-end 106 of thelinear actuator 104 is coupled to the rotational coupling 124.

The rotational coupling 124 includes, or takes the form of, any suitablemechanical device that is configured to join two components and enableone of the components to rotate about an axis relative to the othercomponent. In one or more examples, the rotational coupling 124includes, or takes the form of, rotary joint or rotary bearing.

The rotational coupling 124 enables the surface preparation tool 110 tomove in a horizontal direction (e.g., generally side-to-side) viarotating the linear actuator 104 about the rotational-motion axis 118.In other words, with the surface preparation tool 110 in operationalcontact with the low-profile surface 200, rotational movement of thelinear actuator 104 about the rotation-motion axis 118 results inmovement of the surface preparation tool 110 in the horizontal direction(e.g., partial orbital movement about the rotational-motion axis 118).

In one or more examples, the linear actuator 104 is linearly movablerelative to the creeper 102 along a linear-motion axis 120 (FIGS. 1-4 ).In one or more examples, the linear-motion axis 120 is horizontal.

In one or more examples, the apparatus 100 includes a linear coupling126. The linear coupling 126 is an example of the movable joint 164 orforms a portion of the movable joint 164. The linear coupling 126 formsthe linear-motion axis 120. In these examples, the linear actuator 104is coupled to the creeper 102 and is linearly movable along thelinear-motion axis 120 relative to the creeper 102 via the linearcoupling 126. In one or more examples, the linear coupling 126 iscoupled to the creeper 102 and the base-end 106 of the linear actuator104 is coupled to the linear coupling 126.

The linear coupling 126 includes, or takes the form of, any suitablemechanical device that is configured to join two components and enableone of the components to linearly move (e.g., translate) along an axisrelative to the other component. In one or more examples, the linearcoupling 126 includes, or takes the form of, a prismatic joint, such asa slide rail or linear bearing slide.

The linear coupling 126 enables the surface preparation tool 110 to movein a horizontal direction (e.g., generally front-to-back) via linearlymoving the linear actuator 104 along the linear-motion axis 120. Inother words, with the surface preparation tool 110 in operationalcontact with the low-profile surface 200, linear movement of the linearactuator 104 along the linear-motion axis 120 results in movement of thesurface preparation tool 110 in the horizontal direction.

In one or more examples, as illustrated in FIGS. 1-4 , the movable joint164 is configured to enable a combination of pivotal movement,rotational movement, and linear movement of the linear actuator 104relative to the creeper 102. In one or more examples, the apparatus 100includes at least two (e.g., a combination) of the pivotal coupling 122,the rotational coupling 124, and the linear coupling 126. In one or moreexamples, the apparatus 100 includes each one of the pivotal coupling122, the rotational coupling 124, and the linear coupling 126.

In one or more examples, the linear coupling 126 is coupled to thecreeper 102 and has (e.g., forms) the linear-motion axis 120. The linearactuator 104 is linearly movable along the linear-motion axis 120relative to the creeper 102. The rotational coupling 124 is coupled tothe linear coupling 126 and has (e.g., forms) the rotational-motion axis118. The linear actuator 104 is rotationally movable about therotational-motion axis 118 relative to the creeper 102 (e.g., relativeto the linear coupling 126). The pivotal coupling 122 is coupled to therotational coupling 124 and has (e.g., forms) the pivotal-motion axis116. The linear actuator 104 is pivotally movable about thepivotal-motion axis 116 relative to the creeper 102 (e.g., relative tothe rotational coupling 124).

In one or more examples, the rotational-motion axis 118 is approximatelyperpendicular to the linear-motion axis 120. In one or more examples,the pivotal-motion axis 116 is approximately perpendicular to therotational-motion axis 118.

Referring to FIGS. 5 and 6 , the linear actuator 104 includes any one ofvarious structural configurations that enable selective linear (e.g.,translational) movement of the tool-end 108 along the translation axis204 relative to the base-end 106.

As illustrated in FIG. 5 , in one or more examples, the linear actuator104 includes a telescoping arm 208. The telescoping arm 208 includes atleast two arm-portions (e.g., a first arm-portion 210 and a secondarm-portion 212) that are movable relative to each other to lengthen thetelescoping arm 208. In these examples, the telescoping arm 208includes, or forms, the base-end 106 and the tool-end 108 of the linearactuator 104. One end of the telescoping arm 208 (e.g., an end of thefirst arm-portion 210) is coupled to the movable joint 164, and thesurface preparation tool 110 is coupled to an opposing end of thetelescoping arm 208 (e.g., an end of the second arm-portion 212).

In these examples, the linear actuator 104 also includes a drivemechanism 206. The drive mechanism 206 is configured to drive movementof the tool-end 108 relative to the base-end 106 and, thus, extensionand retraction of the telescoping arm 208 (e.g., extension andretraction of the linear actuator 104). In one or more examples, thedrive mechanism 206 includes a drive-mechanism first end 214 that iscoupled to the first arm-portion 210 and a drive-mechanism second end216 that is coupled to the second arm-portion 212. The drive mechanism206 is configured to selectively move the drive-mechanism second end 216relative to the drive-mechanism first end 214, which in turn selectivelymoves the tool-end 108 relative to the base-end 106.

The drive mechanism 206 includes, or takes the form of, any one orvarious types of suitable actuators that creates motion in a straightline and is capable of being driven by any one of a variety of energysources. In one or more examples, the drive mechanism 206 is a pneumaticactuator (e.g., a pneumatic cylinder) that is powered by application ofpressurized air from a source of compressed air, such as the compressedair source 162 (FIG. 7 ). In one or more examples, the drive mechanism206 is a mechanical or electro-mechanical actuator that is powered byapplication of electricity from a power supply. In one or more examples,the drive mechanism 206 is hydraulic actuator (e.g., a hydrauliccylinder) that is powered by application of pressurized liquid from acompressed liquid source.

In one or more examples, the biasing device 128 is coupled to (e.g., iscoupled between) the telescoping arm 208 and the movable joint 164. Forexample, the biasing device 128 includes a biasing-device first end 218that is coupled to the movable joint 164, such as to the pivotalcoupling 122, and a biasing-device second end 220 that is coupled to thetelescoping arm 208, such as to the first arm-portion 210.

The biasing-device first end 218 is coupled to the movable joint 164such that the biasing device 128 can rotate about a rotational axis thatpasses though the biasing-device first end 218 and the movable joint164. The biasing-device second end 220 is coupled to the telescoping arm208 such that the biasing device 128 can rotate about a rotational axisthat passes though the biasing-device second end 220 and the telescopingarm 208. The rotational connection between the biasing device 128 andthe movable joint 164 and between the biasing device 128 and thetelescoping arm 208 enables the linear actuator 104 to pivot about thepivotal-motion axis 116 relative to the creeper 102 (e.g., FIGS. 1 and 3).

As illustrated in FIG. 6 , in one or more examples, the linear actuator104 is formed by an actuator mechanism 222. In these examples, theactuator mechanism 222 includes at least two actuator-portions (e.g., afirst actuator-portion 224 and a second actuator-portion 226) that aremovable relative to each other to lengthen the actuator mechanism 222.In these examples, the actuator mechanism 222 includes, or forms, thebase-end 106 and the tool-end 108 of the linear actuator 104. One end ofthe actuator mechanism 222 (e.g., an end of the first actuator-portion224) is coupled to the movable joint 164 and the surface preparationtool 110 is coupled to an opposing end of the actuator mechanism 222(e.g., an end of the second actuator-portion 226).

In these examples, the actuator mechanism 222 is configured to drivemovement of the tool-end 108 relative to the base-end 106 (e.g.,extension and retraction of the linear actuator 104)). The actuatormechanism 222 is configured to selectively move the secondactuator-portion 226 relative to the first actuator-portion 224, whichin turn selectively moves the tool-end 108 relative to the base-end 106.

The actuator mechanism 222 includes, or takes the form of, any one orvarious types of suitable actuators that creates motion in a straightline and is capable of being driven by any one of a variety of energysources. In one or more examples, the actuator mechanism 222 is apneumatic actuator (e.g., a pneumatic cylinder) that is powered byapplication of pressurized air from a source of compressed air, such asthe compressed air source 162 (FIG. 7 ). In one or more examples, theactuator mechanism 222 is a mechanical or electro-mechanical actuatorthat is powered by application of electricity from a power supply. Inone or more examples, the actuator mechanism 222 is hydraulic actuator(e.g., a hydraulic cylinder) that is powered by application ofpressurized liquid from a compressed liquid source.

In one or more examples, the biasing device 128 is coupled to (e.g., iscoupled between) the actuator mechanism 222 and the movable joint 164.For example, the biasing-device first end 218 is coupled to the movablejoint 164, such as to the pivotal coupling 122, and the biasing-devicesecond end 220 is coupled to the actuator mechanism 222, such as to thefirst actuator-portion 224.

The biasing-device first end 218 is coupled to the movable joint 164such that the biasing device 128 can rotate about a rotational axis thatpasses though the biasing-device first end 218 and the movable joint164. The biasing-device second end 220 is coupled to the actuatormechanism 222 such that the biasing device 128 can rotate about arotational axis that passes though the biasing-device second end 220 andthe actuator mechanism 222. The rotational connection between thebiasing device 128 and the movable joint 164 and between the biasingdevice 128 and the actuator mechanism 222 enables the linear actuator104 to pivot about the pivotal-motion axis 116 relative to the creeper102 (e.g., FIGS. 1 and 3 ).

Referring to FIGS. 1-4, 7 and 10 , in one or more examples, theapparatus 100 includes an actuator-controller 112. Theactuator-controller 112 is coupled to the linear actuator 104. Theactuator-controller 112 is operable (e.g., is configured) to selectivelyactuate the linear actuator 104. In one or more examples, the apparatus100 includes a tool-controller 114. The tool-controller 114 isconfigured to be coupled (e.g., is coupleable) to the surfacepreparation tool 110. The tool-controller 114 is operable (e.g., isconfigured) to selectively energize the surface preparation tool 110.

In one or more examples, the surface preparation tool 110 is apneumatic-powered tool. In one or more examples, the linear actuator 104(e.g., the drive mechanism 206 (FIG. 5 ) or the actuator mechanism 222(FIG. 6 )) is a pneumatic actuator. In these examples, thetool-controller 114 is a pneumatic tool-controller and theactuator-controller 112 is a pneumatic actuator-controller.

FIG. 7 schematically illustrates an example of a control system 228 forthe apparatus 100 that is configured to control the supply, or flow, ofpressurized air to the surface preparation tool 110 and the linearactuator 104. FIG. 7 illustrates application of the control system 228to examples of the linear actuator 104 that include the telescoping arm208 and the drive mechanism 206 (FIG. 5 ). However, the control system228 is equally applicable to examples of the linear actuator 104 thatinclude the actuator mechanism 222 (FIG. 6 ).

In one or more examples, the tool-controller 114 includes a pneumatictool-valve 134. The pneumatic tool-valve 134 is coupled to the surfacepreparation tool 110. The pneumatic tool-valve 134 is selectively openedor closed such that the compressed air source 162 is in selective fluidcommunication with the surface preparation tool 110. For example, thepneumatic tool-valve 134 is configured to be selectively actuatedbetween an open position to supply a flow of pressurized air to thesurface preparation tool 110 and a closed position to restrict the flowof pressurized air to the surface preparation tool 110. In one or moreexamples, the tool-controller 114 includes a tool-valve control 136. Thetool-valve control 136 is coupled to the pneumatic tool-valve 134. Thetool-valve control 136 is operable (e.g., configured) to selectivelyactuate the pneumatic tool-valve 134 between the open position and theclosed position.

In one or more examples, the pneumatic tool-valve 134 is a two-way,two-position, normally closed directional valve. In one or moreexamples, the tool-valve control 136 includes any suitable mechanical orelectrical coupling or linkage that is operable to selectively actuatethe pneumatic tool-valve 134. In one or more examples, physicalengagement or movement of the tool-valve control 136 selectivelyactuates the pneumatic tool-valve 134, such as by being manuallydepressed by the user using one hand. Examples of the tool-valve control136 include, but are not limited to, a lever arm, a switch, a trigger,and the like.

In one or more examples, the tool-controller 114 includes a tool-biasingmechanism 138. The tool-biasing mechanism 138 is configured to bias thepneumatic tool-valve 134 in the closed position. In one or moreexamples, the tool-valve control 136 is moveable between an “on”position that selectively actuates the pneumatic tool-valve 134 in theopen position and an “off” position that selectively actuates thepneumatic tool-valve 134 in the closed position. The tool-biasingmechanism 138 is operable to bias the tool-valve control 136 in the“off” position such that the pneumatic tool-valve 134 is closed. In oneor more examples, the tool-biasing mechanism 138 is coupled to thetool-valve control 136 to bias the tool-valve control 136 in the “off”position. In one or more examples, the tool-biasing mechanism 138 is aspring.

In one or more examples, when the tool-valve control 136 is not beingactively engaged (e.g., depressed) by the user, the tool-biasingmechanism 138 urges the tool-valve control 136 in the “off” positionand, thus, the pneumatic tool-valve 134 in the closed position, therebyautomatically de-energizing the surface preparation tool 110. In theseexamples, the tool-controller 114 acts as a deadman valve or a deadmanswitch such that the surface preparation tool 110 is automaticallyde-energized at any point where an actuation force is not being appliedto the tool-valve control 136.

In one or more examples, the pneumatic tool-valve 134 is configured toselectively adjust a flow rate of pressurized air to the surfacepreparation tool 110. For example, the flow rate of pressurized air isproportionally adjusted in response to the amount of movement or themagnitude of the actuation force applied to the tool-valve control 136and, thus, to the proportionally adjusted open position of the pneumatictool-valve 134. Selective adjustment of the flow rate of pressurized airto the surface preparation tool 110 enables selective control over theoperating speed and/or power of the surface preparation tool 110.

Other examples and configurations of the tool-controller 114 are alsocontemplated depending, for example, on the type of surface preparationtool 110 being used and the type of manufacturing environment in whichthe surface preparation operation is being performed. As an example, thepneumatic tool-valve 134 is a solenoid valve with an automatic returnand the tool-valve control 136 is an actuation switch. As anotherexample, such as where the surface preparation tool 110 is anelectrically powered tool, the tool-controller 114 includes, or takesthe form of, an electrical switch.

In one or more examples, the actuator-controller 112 includes apneumatic actuator-valve 140. The pneumatic actuator-valve 140 iscoupled to the linear actuator 104, such as to the drive mechanism 206(FIG. 5 ) or to the actuator mechanism 222 (FIG. 6 ). The pneumaticactuator-valve 140 is selectively opened or closed. such that thecompressed air source 162 is in selective fluid communication with thelinear actuator 104. For example, the pneumatic actuator-valve 140 isconfigured to be selectively actuated between an open position to supplya flow of pressurized air to the linear actuator 104 and a closedposition to restrict the flow of pressurized air to the linear actuator104. In one or more examples, the actuator-controller 112 includes anactuator-valve control 142. The actuator-valve control 142 is coupled tothe pneumatic actuator-valve 140. The actuator-valve control 142 isconfigured to selectively actuate the pneumatic actuator-valve 140between the open position and the closed position.

In one or more examples, the pneumatic actuator-valve 140 is a two-way,two-position, normally closed directional valve. In one or moreexamples, the actuator-valve control 142 includes any suitablemechanical or electrical coupling or linkage that is operable toselectively actuate the pneumatic actuator-valve 140. In one or moreexamples, physical engagement or movement of the actuator-valve control142 selectively actuates the pneumatic actuator-valve 140, such as bybeing manually depressed by the user using one hand. Examples of theactuator-valve control 142 include, but are not limited to, a lever arm,a switch, a trigger, and the like.

In one or more examples, the actuator-controller 112 includes anactuator-biasing mechanism 144. The actuator-biasing mechanism 144 isconfigured to bias the pneumatic actuator-valve 140 in the closedposition. In one or more examples, the actuator-valve control 142 ismoveable between an “on” position that actuates the pneumaticactuator-valve 140 in the open position and an “off” position thatselectively actuates the pneumatic actuator-valve 140 in the closedposition. The actuator-biasing mechanism 144 is operable to bias theactuator-valve control 142 in the “off” position such that the pneumaticactuator-valve 140 is closed. In one or more examples, theactuator-biasing mechanism 144 is coupled to the actuator-valve control142 to bias the actuator-valve control 142 in the “off” position. In oneor more examples, the actuator-biasing mechanism 144 is a spring.

In one or more examples, when the actuator-valve control 142 is notbeing actively engaged (e.g., depressed) by the user, theactuator-biasing mechanism 144 urges the actuator-valve control 142 inthe “off” position and, thus, the pneumatic actuator-valve 140 in theclosed position, thereby automatically restricting the flow ofpressurized air to (e.g., de-activating) the linear actuator 104. Inthese examples, the actuator-controller 112 acts as a deadman valve or adeadman switch such that the flow of pressurized air to the linearactuator 104 is automatically restricted (e.g., the linear actuator 104is automatically de-activated) at any point where an actuation force isnot being applied to the actuator-valve control 142.

In one or more examples, the pneumatic actuator-valve 140 is configuredto selectively adjust a flow rate of pressurized air to the linearactuator 104. For example, the flow rate of pressurized air isproportionally adjusted in response to the amount of movement or themagnitude of the actuation force applied to the actuator-valve control142 and, thus, to the proportionally adjusted open position of thepneumatic actuator-valve 140. Selective adjustment of the flow rate ofpressurized air to the linear actuator 104 enables selective controlover the operating speed and/or force of the linear actuator 104.

Other examples and configurations of the actuator-controller 112 arealso contemplated depending, for example, on the type of linear actuator104 being used and the type of manufacturing environment in which thesurface preparation operation is being performed. As an example, thepneumatic actuator-valve 140 is a solenoid valve with an automaticreturn and the actuator-valve control 142 is an actuation switch. Asanother example, such as where the linear actuator 104 is anelectro-mechanical actuator, the actuator-controller 112 includes, ortakes the form of, an electrical switch.

In one or more examples, when in the closed position, the pneumaticactuator-valve 140 is configured to exhaust pressurized air from thelinear actuator 104. Exhausting pressurized air from the linear actuator104 when the pneumatic actuator-valve 140 is selectively closedpassively moves the linear actuator 104 to the retracted state. In otherwords, with the pneumatic actuator-valve 140 closed, the pneumaticactuator-valve 140 automatically exhausts pressurized air from thelinear actuator 104 such that the linear actuator 104 passively movesfrom the extended state to the retracted state. For example, the linearactuator 104 includes, or is driven by, a single-acting linear actuatorand the pneumatic actuator-valve 140 is a three-way, two-position,normally closed directional valve. In such an example, passiveretraction of the linear actuator 104 is accomplished by the force ofgravity and/or by a biasing member (e.g., an integral spring) of thelinear actuator 104 acting on the tool-end 108 relative to the base-end106.

In one or more examples, with the pneumatic actuator-valve 140 closed,the pneumatic actuator-valve 140 is configured to supply a flow ofpressurized air to the linear actuator 104 such that the linear actuator104 actively moves from the extended state to the retracted state. Forexample, the linear actuator 104 includes, or is driven by, adouble-acting linear actuator and the pneumatic actuator-valve 140 is afour-way, two-position, normally closed directional valve. In such anexample, active retraction of the linear actuator 104 is accomplished bythe force of pressurized air supplied to the linear actuator 104.

In one or more example, the apparatus 100 include a pressure regulator194. The pressure regulator 194 is configured to maintain pressurizedair supplied to the linear actuator 104 at a substantially constantselected (e.g., desired) pressure. The selected pressure is controlledby or is pre-set by the user and may depend on various factors, such asthe type of surface being worked on, the type of surface preparationoperation being performed, the type of surface preparation tool 110being used, and the like.

With the surface preparation tool 110 in operational contact with thelow-profile surface 200, the pressure regulator 194 maintains asubstantially constant pressure applied to the linear actuator 104 suchthat a contact force applied by the surface preparation tool 110 againstthe low-profile surface 200 is substantially constant as the surfacepreparation tool 110 is moved across the low-profile surface 200 undercontrol of the user, such as by rotationally moving the linear actuator104 about the rotational-motion axis 118 and/or linearly moving thelinear actuator 104 along the linear-motion axis 120 (e.g., FIGS. 1-4 ).

In one or more examples, the pressure regulator 194 regulates pressurein an air chamber of a pneumatic cylinder of the drive mechanism 206 ofthe linear actuator 104 (e.g., FIG. 5 ) by equalizing pressure in thepneumatic cylinder when the surface preparation tool 110 is inoperational contact with the low-profile surface 200. In one or moreexamples, the pressure regulator 194 regulates pressure in an airchamber of a pneumatic cylinder of the actuator mechanism 222 of thelinear actuator 104 (e.g., FIG. 6 ) by equalizing pressure in thepneumatic cylinder when the surface preparation tool 110 is inoperational contact with the low-profile surface 200. Any one of varioussuitable types of pressure regulators may be used for the pressureregulator 194.

Accordingly, use of the linear actuator 104 and the pressure regulator194 enables the surface preparation tool 110 to be maintained inoperational contact with the low-profile surface 200 while applying asubstantially constant force. This configuration does not require theuser to actively apply an upward user force to the linear actuator 104(e.g., to upwardly pivot the linear actuator) or actively hold thesurface preparation tool 110 in operational contact with the low-profilesurface 200.

In one or more examples, the compressed air source 162 providespressurized air via pneumatic lines 196 to an air inlet of the pneumatictool-valve 134 of the tool-controller 114 and to the pneumaticactuator-valve 140 of the actuator-controller 112. The flow ofpressurized air that passes through the pneumatic tool-valve 134 alongthe pneumatic lines 196 to the surface preparation tool 110 iscontrolled by the tool-valve control 136, such as operated by the user.The flow of pressurized air that passes through the pneumaticactuator-valve 140 along the pneumatic lines 196 to the linear actuator104 is controlled by the actuator-valve control 142, such as operated bythe user.

In one or more examples, the apparatus 100 includes a manifold 198. Themanifold 198 is configured to direct the flow of pressurized air alongthe pneumatic lines 196 to the linear actuator 104 via the pneumaticactuator-valve 140 and to the surface preparation tool 110 via thepneumatic tool-valve 134.

Referring to FIGS. 8 and 9 , in one or more examples, the apparatus 100includes a tool-mount 132. The tool-mount 132 is coupled to the tool-end108 of the linear actuator 104. The tool-mount 132 is configured suchthat the surface preparation tool 110 can be removably coupled to thetool-mount 132. The surface preparation tool 110 being removable fromthe tool-mount 132 enables different types of surface preparation tools(e.g., sanders, polishers, grinders, etc.) to be interchanged with eachother depending on the desired surface preparation operation beingperformed.

In one or more examples, the surface preparation tool 110 is pivotallymoveable relative to the linear actuator 104. In one or more examples,the tool-mount 132 is configured to enable rotation of the surfacepreparation tool 110 about at least one axis, such as about two axes.Rotation of the surface preparation tool 110 enables the angularorientation of the surface preparation tool 110 to be automaticallyadjusted to conform to a profile shape or slope of a non-horizontalportion of the low-profile surface 200 (FIGS. 2 and 4 ).

In one or more examples, the tool-mount 132 enables rotation of thesurface preparation tool 110 about two axes (e.g., a first tool-rotationaxis 166 and a second tool-rotation axis 168). In one or more examples,the first tool-rotation axis 166 and the second tool-rotation axis 168are orthogonal to each other. In one or more examples, each of the firsttool-rotation axis 166 and the second tool-rotation axis 168 intersectsthe translational axis 204 of the linear actuator 104. In one or moreexamples, the tool-mount 132 also enables rotation of the surfacepreparation tool 110 about a third tool-rotation axis 182. In one ormore examples, the third tool-rotation axis 182 is parallel to orcoincident with the translational axis 204 of the linear actuator 104.

In one or more examples, the tool-mount 132 is a gimbal mechanism. In anexample, the gimbal mechanism includes a set of (e.g., at least two)single axis gimbals. Each gimbal has a closed cross-sectional shape(e.g., a ring) and is independently moveable relative to each other andenables rotation of the surface preparation tool 110 about one axis. Invarious examples, any suitable gimbal mechanism is contemplated for useas the tool-mount 132.

In one or more examples, as illustrated in FIGS. 8 and 9 , thetool-mount 132 is a half-gimbal mechanism. The half-gimbal mechanismincludes a set of (e.g., at least two) single axis gimbal arms. Eachgimbal arm is independently moveable relative to the other and enablesrotation of the surface preparation tool 110 about one axis. Unlike atraditional gimbal mechanism, the gimbal arms of the half-gimbalmechanism do not require a closed cross-sectional shape in which anouter gimbal is concentric with an inner gimbal and each gimbal has twoattachment points with an adjacent gimbal.

In one or more examples, as illustrated in FIGS. 8 and 9 , thetool-mount 132 (e.g., the half-gimbal mechanism) includes a first gimbalarm 170, a second gimbal arm 176, and a third gimbal arm 184. In one ormore examples, each one of the first gimbal arm 170 and the secondgimbal arm 176 has an arcuate (e.g., curved) profile shape. The firstgimbal arm 170 is coupled to the tool-end 108 of the linear actuator104. The second gimbal arm 176 is coupled to the first gimbal arm 170and is rotatable relative to the first gimbal arm 170 about the firsttool-rotation axis 166 (e.g., a roll axis). The third gimbal arm 184 iscoupled to the second gimbal arm 176 and is rotatable relative to thesecond gimbal arm 176 about the second tool-rotation axis 168 (e.g., atilt axis or pitch axis). The third gimbal arm 184 is configured to holdthe surface preparation tool 110 (FIG. 8 ). In other words, the surfacepreparation tool 110 is removably coupled to the third gimbal arm 184.In one or more examples, optionally, the first gimbal arm 170 isrotatable relative to the linear actuator 104 about the thirdtool-rotation axis 182 (e.g., a pan axis).

Referring to FIG. 9 , in one or more examples, the first gimbal arm 170includes a first gimbal arm-first end 172 and a first gimbal arm-secondend 174, opposite the first gimbal arm-first end 172. The first gimbalarm-first end 172 is coupled to the tool-end 108 of the linear actuator104. The second gimbal arm 176 includes a second gimbal arm-first end178 and a second gimbal arm-second end 180, opposite the second gimbalarm-first end 178. The second gimbal arm-first end 178 is coupled to thefirst gimbal arm-second end 174. The third gimbal arm 184 is coupled tothe second gimbal arm-second end 180.

In one or more examples, the third gimbal arm 184 includes an innerclamp member 186. The inner clamp member 186 is coupled to the secondgimbal arm 176, such as to the second gimbal arm-second end 180. Theinner clamp member 186 is rotatable relative to the second gimbal arm176 about the second tool-rotation axis 168. The third gimbal arm 184also includes an outer clamp member 188. The outer clamp member 188 isconfigured to be releasably coupled (e.g., fastened) to the inner clampmember 186. The surface preparation tool 110 (FIG. 8 ) is clampedbetween the inner clamp member 186 and the outer clamp member 188.

Referring to FIG. 8 , in one or more examples, the surface preparationtool 110 includes a tool body 190 (e.g., a tool housing) and a surfacepreparation head 192, coupled to the tool body 190. A motor (not shown),such as a pneumatic motor, is housed within the tool body 190 and isoperatively coupled to the surface preparation head 192 to drivemovement (e.g., rotational movement or orbital movement) of the surfacepreparation head 192. The structure and operation of surface preparationtools and, particularly, pneumatic motors for driving surfacepreparation heads are known and, therefore, will not be described infurther detail.

In one or more examples, the third gimbal arm 184 is configured to besecured to the tool body 190 such that the surface preparation tool 110is coupled to the second gimbal arm 176. In one or more examples, thetool body 190 of the surface preparation tool 110 is positioned withinan open region defined between the inner clamp member 186 and the outerclamp member 188. With the inner clamp member 186 coupled to the outerclamp member 188, the tool body 190 of the surface preparation tool 110is surrounded by and securely held between the inner clamp member 186and the outer clamp member 188.

Referring to FIGS. 1-6 and 8-10 , in one or more examples, the apparatus100 includes a tool-control handle 130. In one or more examples, thetool-control handle 130 is coupled to the linear actuator 104. In one ormore examples, the tool-control handle 130 is coupled proximate to(e.g., at or near) the tool-end 108 of the linear actuator 104. In oneor more examples, the tool-control handle 130 is coupled to thetool-mount 132 (e.g., FIGS. 8 and 9 ). For example, the tool-controlhandle 130 is coupled to first gimbal arm 170 of the tool-mount 132.Coupling the tool-control handle 130 near the tool-end 108 of the linearactuator 104 provides the user with increased control and mechanicaladvantage when moving the surface preparation tool 110 relative to thelow-profile surface 200 during the surface preparation operation.

The tool-control handle 130 provides a grip for the user and enables theuser to manually pivot the linear actuator 104 about the pivotal-motionaxis 116 relative to the creeper 102, to manually rotate the linearactuator 104 about the rotational-motion axis 118 relative to thecreeper 102, and to manually move the linear actuator 104 along thelinear-motion axis 120 relative to the creeper 102 while the user ispositioned on the body pad 154 in the supine position.

As previously described herein, pivoting the linear actuator 104 aboutthe pivotal-motion axis 116 relative to the creeper 102 raises andlowers the surface preparation tool 110 into and out of operationalcontact with the low-profile surface 200. Rotating the linear actuator104 about the rotational-motion axis 118 and/or linear movement of thelinear actuator 104 along the linear-motion axis 120 relative to thecreeper 102 moves the surface preparation tool 110 across thelow-profile surface 200 during the surface preparing operation. Thus,the tool-control handle 130 enables the user to manipulate the locationand/or orientation of the linear actuator 104 relative to the creeper102 with one hand, which in turn locates the surface preparation tool110 relative to the low-profile surface 200.

In one or more examples, the tool-controller 114 is coupled to thetool-control handle 130. In one or more examples, the tool-valve control136 is coupled to, or is located on, the tool-control handle 130. In oneor more examples, the pneumatic tool-valve 134 is also located on, or isproximate to, the tool-control handle 130. Co-locating thetool-controller 114 with the tool-control handle 130 enables the user tocontrol the power supplied to the surface preparation tool 110 whileconcurrently manipulating the location and orientation of the linearactuator 104 to position the surface preparation tool 110 relative tothe low-profile surface 200 using one hand.

Referring to FIGS. 1-6 and 8-10 , in one or more examples, the apparatus100 includes an actuator-control handle 230. In one or more examples,the actuator-control handle 230 is coupled to the linear actuator 104,such as opposite to the tool-control handle 130. In one or moreexamples, the actuator-control handle 230 is coupled proximate to (e.g.,at or near) the tool-end 108 of the linear actuator 104. In one or moreexamples, the actuator-control handle 230 is coupled to the tool-mount132 (e.g., FIGS. 8 and 9 ). For example, the actuator-control handle 230is coupled to first gimbal arm 170 of the tool-mount 132 opposite to thetool-control handle 130. Coupling the actuator-control handle 230 nearthe tool-end 108 of the linear actuator 104 provides the user withincreased control and mechanical advantage when moving the surfacepreparation tool 110 relative to the low-profile surface 200 during thesurface preparation operation.

The actuator-control handle 230 provides an alternate or additional gripfor the user and enables the user to manually pivot the linear actuator104 about the pivotal-motion axis 116 relative to the creeper 102, tomanually rotate the linear actuator 104 about the rotational-motion axis118 relative to the creeper 102, and to manually move the linearactuator 104 along the linear-motion axis 120 relative to the creeper102 while the user is positioned on the body pad 154 in the supineposition.

As previously described herein, pivoting the linear actuator 104 aboutthe pivotal-motion axis 116 relative to the creeper 102 raises andlowers the surface preparation tool 110 into and out of operationalcontact with the low-profile surface 200. Rotating the linear actuator104 about the rotational-motion axis 118 and/or linear movement of thelinear actuator 104 along the linear-motion axis 120 relative to thecreeper 102 moves the surface preparation tool 110 across thelow-profile surface 200 during the surface preparing operation. Thus,the actuator-control handle 230 enables the user to manipulate thelocation and/or orientation of the linear actuator 104 relative to thecreeper 102 with one hand, which in turn locates the surface preparationtool 110 relative to the low-profile surface 200.

In one or more examples, the actuator-controller 112 is coupled to theactuator-control handle 230. In one or more examples, the actuator-valvecontrol 142 is coupled to, or is located on, the actuator-control handle230. In one or more examples, the pneumatic actuator-valve 140 is alsolocated on, or is proximate to, the actuator-control handle 230.Co-locating the actuator-controller 112 with the actuator-control handle230 enables the user to control the power supplied to the linearactuator 104 while concurrently manipulating the location andorientation of the linear actuator 104 to position the surfacepreparation tool 110 relative to the low-profile surface 200 using onehand.

In one or more examples, as illustrated in FIGS. 1-6, 8 and 9 , theapparatus 100 includes both the tool-control handle 130 and theactuator-control handle 230. The tool-control handle 130 andactuator-control handle 230, in combination, enables the user to useboth hands to control manipulation of the location and/or orientation ofthe linear actuator 104 relative to the creeper 102, which in turnlocates the surface preparation tool 110 relative to the low-profilesurface 200, while concurrently enabling the user to control the powersupplied to the surface preparation tool 110 using one hand and tocontrol the power supplied to the linear actuator 104 using the otherhand.

As illustrated in FIG. 10 , alternatively, in one or more examples, theactuator-controller 112 is coupled to the creeper 102, rather than to acontrol handle (e.g., the actuator-control handle 230). In one or moreexamples, the actuator-valve control 142 is coupled to, or is locatedon, the frame 150 of the creeper 102 in reach of the user. In one ormore examples, the pneumatic actuator-valve 140 is also coupled to, oris located on, the frame 150 of the creeper 102. Generally, theactuator-controller 112 is located on the frame 150 of the creeper 102within reach of the user to enable the user to control the powersupplied to the linear actuator 104 with one hand, while concurrentlycontrolling the power supplied to the surface preparation tool 110 andmanipulating the location and orientation of the linear actuator 104with the opposite hand, such as via the tool-control handle 130.

Alternatively, in one or more examples, the tool-controller 114 iscoupled to the creeper 102, rather than to a control handle (e.g., thetool-control handle 130). In one or more examples, the tool-valvecontrol 136 is coupled to, or is located on, the frame 150 of thecreeper 102 in reach of the user. In one or more examples, the pneumatictool-valve 134 is also coupled to, or is located on, the frame 150 ofthe creeper 102. Generally, the tool-controller 114 is located on theframe 150 of the creeper 102 within reach of the user to enable the userto control the power supplied to the surface preparation tool 110 withone hand, while concurrently controlling the power supplied to thelinear actuator 104 and manipulating the location and orientation of thelinear actuator 104 with the opposite hand, such as via theactuator-control handle 230.

In one or more examples, the pressure regulator 194 and the manifold 198are coupled to the frame 150 of the creeper 102. In one or moreexamples, the compress air source 162 is located remotely from theapparatus 100 and is coupled to and is in fluid communication with themanifold 198 via a pneumatic line.

In one or more examples, the tool-controller 114 and/or the tool-controlhandle 130 are located on one side (e.g., the left side) of theapparatus 100 to be manipulated by one hand (e.g., the left hand) of theuser. In these examples, the actuator-controller 112 and/or theactuator-control handle 230 are located on an opposing side (e.g., theright side) of the apparatus 100 to be manipulated on an opposite hand(e.g., the right hand) of the user.

In an example implementation, the user adjusts the height (e.g., raisesand lowers) the surface preparation tool 110 into and out of operationalcontact with the low-profile surface 200 using actuation of the linearactuator 104 using a first hand (e.g., one of the left or right hands).With the surface preparation tool 110 in contact with the low-profilesurface 200, the user energizes the surface preparation tool 110 using asecond hand (e.g., the other one of the left or right hands). With thesurface preparation tool 110 in contact with the low-profile surface200, the user moves the surface preparation tool 110 across thelow-profile surface 200 by rotating the linear actuator 104 and/orlinearly moving the linear actuator 104 relative to the creeper 102using one or both of the first hand and/or the second hand.

Referring to FIG. 11 , by way of examples, the present disclosure isfurther directed to a method 1000 of making the surface preparationsupport apparatus 100 (FIGS. 1-10 ).

In one or more examples, the method 1000 includes a step of (block 1002)coupling the base-end 106 of the linear actuator 104 to the creeper 102.In one or more examples, the base-end 106 of the linear actuator 104 iscoupled to the creeper 102 via the movable joint 164 such that thelinear actuator 104 is at least one of pivotable, rotatable, andlinearly movable relative to the creeper 102. In one or more examples,the base-end 106 of the linear actuator 104 is coupled to the creeper102 via at least one of the pivotal coupling 122, the rotationalcoupling 124, and the linear coupling 126.

In one or more examples, the step of (block 1002) coupling the base-end106 of the linear actuator 104 to the creeper 102 includes a step ofcoupling the base-end 106 of the linear actuator 104 to the foot-end 148the creeper 102.

In one or more example, the step of (block 1002) coupling the base-end106 of the linear actuator 104 to the creeper 102 is performed using thepivotal coupling 122 (block 1004). In one or more examples, the step of(block 1002) coupling the base-end 106 of the linear actuator 104 to thecreeper 102, using the pivotal coupling 122 (block 1004), includes astep of coupling the pivotal coupling 122 to the creeper 102 and a stepof coupling the base-end 106 of the linear actuator 104 to the pivotalcoupling 122 so that the linear actuator 104 is pivotally movablerelative to the creeper 102 about the pivotal-motion axis 116 of thepivotal coupling 122.

In one or more examples, the step of (block 1002) coupling the base-end106 of the linear actuator 104 to the creeper 102 is performed using therotational coupling 124 (block 1006). In one or more examples, the stepof (block 1002) coupling the base-end 106 of the linear actuator 104 tothe creeper 102, using the rotational coupling 124 (block 1006),includes a step of coupling the rotational coupling 124 to the creeper102 and a step of coupling the base-end 106 of the linear actuator 104to the rotational coupling 124 so that the linear actuator 104 isrotationally movable relative to the creeper 102 about therotational-motion axis 118 of the rotational coupling 124.

In one or more examples, the step of (block 1002) coupling the base-end106 of the linear actuator 104 to the creeper 102 is performed using thelinear coupling 126 (block 1008). In one or more examples, the step of(block 1002) coupling the base-end 106 of the linear actuator 104 to thecreeper 102, using the linear coupling 126 (block 1008), includes a stepof coupling the linear coupling 126 to the creeper 102 and a step ofcoupling the base-end 106 of the linear actuator 104 to the linearcoupling 126 so that the linear actuator 104 is linearly movablerelative to the creeper 102 about a linear-motion axis 120 of the linearcoupling 126.

In one or more examples, the base-end 106 of the linear actuator 104 iscoupled to the creeper 102 via a combination of the pivotal coupling122, the rotational coupling 124, and the linear coupling 126. In one ormore examples, the step of (block 1002) coupling the base-end 106 of thelinear actuator 104 to the creeper 102 is performed using the pivotalcoupling 122 (block 1004), using the rotational coupling (block 1006),and using the linear coupling 126 (block 1008).

In one or more examples, the step of (block 1002) coupling the base-end106 of the linear actuator 104 to the creeper 102, using the linearcoupling 126 (block 1008), includes a step of coupling the linearcoupling 126 to the creeper 102. The step of (block 1002) coupling thebase-end 106 of the linear actuator 104 to the creeper 102, using therotational coupling 124 (block 1006), includes a step of coupling therotational coupling 124 to the linear coupling 126. The step of (block1002) coupling the base-end 106 of the linear actuator 104 to thecreeper 102, using the pivotal coupling 122 (block 1004), includes astep of coupling the pivotal coupling 122 to the rotational coupling124. The step of (block 1002) coupling the base-end 106 of the linearactuator 104 to the creeper 102 also includes a step of coupling thebase-end 106 of the linear actuator 104 to the pivotal coupling 122 sothat the linear actuator 104 is pivotally movable relative to thecreeper 102 about the pivotal-motion axis 116 of the pivot coupling 122,is rotationally movable relative to the creeper 102 about therotational-motion axis 118 of the rotational coupling 124, and islinearly movable relative to the creeper 102 along the linear-motionaxis 120 of the linear coupling 126.

In one or more examples, the method 1000 includes a step of coupling thetool-control handle 130 to the linear actuator 104 such that manualmanipulation of the linear actuator 104 can be performed using one handvia the tool-control handle 130. Alternatively, in one or more examples,the method 1000 includes a step of coupling the actuator-control handle230 to the linear actuator 104 such that manual manipulation of thelinear actuator 104 can be performed using one hand via theactuator-control handle 230. Alternatively, in one or more examples, themethod 1000 includes a step of coupling the tool-control handle 130 tothe linear actuator 104 and coupling the actuator-control handle 230 tothe linear actuator 104 such that manual manipulation of the linearactuator 104 can be performed using both hands, via the tool-controlhandle 130 and the actuator-control handle 230.

In one or more examples, the method 1000 includes a step of (block 1010)coupling the tool-mount 132 to the tool-end 108 of the linear actuator104. The tool-mount 132 is configured for attachment of the surfacepreparation tool 110.

In one or more examples, the method 1000 includes a step of (block 1012)coupling the biasing device 128 to the linear actuator 104. In one ormore examples, the step of (block 1012) coupling the biasing device 128to the linear actuator 104 includes a step of coupling the biasingdevice 128 to the pivotal coupling 122 and to the linear actuator 104.The biasing device 128 is configured to bias the linear actuator 104 atthe biased angular orientation relative to the horizontal plane.

In one or more examples, the method 1000 includes a step of (block 1014)coupling the actuator-controller 112 with the linear actuator 104. Theactuator-controller 112 is operationally coupled with the linearactuator 104. The actuator-controller 112 is operable (e.g., configured)to selectively actuate the linear actuator 104 such that the tool-end108 of the linear actuator 104 moves relative to the base-end 106 of thelinear actuator 104.

In one or more examples, the step of (block 1014) coupling theactuator-controller 112 to the linear actuator 104 includes a step ofoperationally coupling the pneumatic actuator-valve 140 of theactuator-controller 112 with the linear actuator 104. The pneumaticactuator-valve 140 is operable (e.g., configured) to actuate between theopen position, in which the flow of pressurized air is supplied to thelinear actuator 104, and the closed position, in which the flow ofpressurized air is restricted from the linear actuator 104, via theactuator-valve control 142.

In one or more examples, the step of (block 1014) coupling theactuator-controller 112 to the linear actuator 104 also includes a stepof coupling the actuator-valve control 142 of the actuator-controller112 to the pneumatic actuator-valve 140. The actuator-valve control 142is configured to selectively actuate the pneumatic actuator-valve 140between the open position and the closed position.

In one or more examples, the step of (block 1014) coupling theactuator-controller 112 to the linear actuator 104 includes a step ofcoupling the actuator-biasing mechanism 144 to the pneumaticactuator-valve 140. The actuator-biasing mechanism 144 is configured tobias the pneumatic actuator-valve 140 in the closed position.

In one or more examples, the step of (block 1014) coupling theactuator-controller 112 to the linear actuator 104 includes a step ofcoupling the actuator-controller 112, such as the actuator-valve control142 and/or the pneumatic actuator-valve 140, to the actuator-controlhandle 230 such that manual manipulation of the linear actuator 104 andselective control of the linear actuator 104 can be performed using onehand. Alternatively, the actuator-controller 112, such as theactuator-valve control 142 and/or the pneumatic actuator-valve 140, iscoupled to the frame 150 of the creeper 102 such that selective controlof the linear actuator 104 can be performed using one hand.

In one or more examples, the method 1000 includes a step of (block 1016)configuring the tool-controller 114 to be coupled to the surfacepreparation tool 110. For example, the step of (block 1016) configuringthe tool-controller 114 to be coupled to the surface preparation tool110 includes a step of operationally coupling the tool-controller 114with the surface preparation tool 110. The tool-controller 114 isoperable (e.g., configured) to selectively energize the surfacepreparation tool 110.

The pneumatic tool-valve 134 is configured to be operationally coupledwith the surface preparation tool 110. In one or more examples, the stepof (block 1016) configuring the tool-controller 114 to be coupled to thesurface preparation tool 110 includes a step of operationally couplingthe pneumatic tool-valve 134 of the tool-controller 114 with the surfacepreparation tool 110. The pneumatic tool-valve 134 is operable (e.g.,configured) to actuate between the open position, in which the flow ofpressurized air is supplied to the surface preparation tool 110, and theclosed position, in which the flow of pressurized air is restricted fromthe surface preparation tool 110, via the tool-valve control 136.

In one or more examples, the step of (block 1016) configuring thetool-controller 114 to be coupled to the surface preparation tool 110also includes a step of coupling the tool-valve control 136 of thetool-controller 114 to the pneumatic tool-valve 134. The tool-valvecontrol 136 is configured to selectively actuate the pneumatictool-valve 134 between the open position and the closed position.

In one or more examples, the step of (block 1016) configuring thetool-controller 114 to be coupled to the surface preparation tool 110includes a step of coupling the tool-biasing mechanism 138 to thepneumatic tool-valve 134. The tool-biasing mechanism 138 is configuredto bias the pneumatic tool-valve 134 in the closed position.

In one or more examples, the step of (block 1016) configuring thetool-controller 114 to be coupled to the surface preparation tool 110includes a step of coupling the tool-controller 114, such as thetool-valve control 136 and/or the pneumatic tool-valve 134, to thetool-control handle 130 such that manual manipulation of the linearactuator 104 and selective control of the surface preparation tool 110can be performed using one hand. Alternatively, the tool-controller 114,such as the tool-valve control 136 and/or the pneumatic tool-valve 134,is coupled to the frame 150 of the creeper 102 such that selectivecontrol of the surface preparation tool 110 can be performed using onehand.

Referring to FIG. 12 , by way of examples, the present disclosure isfurther directed to a method 2000 of preparing the low-profile surface200. Examples of the disclosed method 2000 are performed using thesurface preparation support apparatus 100 (FIGS. 1-9 ). The disclosedmethod 2000 enables support and mobility of the surface preparation tool110, controlled by the user, while the user is in the supine positionand is performing the surface preparation operation on the low-profilesurface 200. The disclosed method 2000 mitigates safety and ergonomicchallenges associated with surface preparation operations of low-profilesurfaces.

In one or more examples, the method 2000 includes a step of (block 2002)moving the apparatus 100 underneath the low-profile surface 200. Forexample, while supported by the creeper 102 in the supine position andwith the legs of the user in contact with the work floor, the user canmanually maneuver the creeper 102 in one or more directions using thelegs. In one or more examples, the method 2000 includes a step ofmaneuvering the creeper 102 underneath the low-profile surface 200 toposition the surface preparation tool 110 underneath the low-profilesurface 200. In one or more examples, the method 1000 includes a step ofselectively actuating the linear actuator 104, coupled to the creeper102, to position the surface preparation tool 110 proximate to (e.g., ator near) the low-profile surface 200.

In one or more examples, the method 2000 includes a step of (block 2004)moving the surface preparation tool 110 into operational contact withthe low-profile surface 200. In one or more examples, the step of (block2004) moving the surface preparation tool 110 into operational contactwith the low-profile surface 200 includes a step of (block 2006)selectively actuating the linear actuator 104 to linearly move thetool-end 108 of the linear actuator 104 away from the base-end 106 ofthe linear actuator 104. Extension of the linear actuator 104 raises thesurface preparation tool 110, coupled to the tool-end 108 of the linearactuator 104, into operational contact with the low-profile surface 200.In these examples, actuation (e.g., extension) of the linear actuator104 places the surface preparation tool 110 in operational contact withthe low-profile surface 200 and holds the surface preparation tool 110in operational contact with the low-profile surface 200.

In one or more examples, the step of (block 2006) selectively actuatingthe linear actuator 104 includes a step of engaging theactuator-controller 112 to extend the linear actuator 104. In one ormore examples, the step of (block 2006) selectively actuating the linearactuator 104 includes a step of disengaging the actuator-controller 112to automatically retract (e.g., de-actuate) the linear actuator 104.

The actuator-controller 112 is operable (e.g., configured) toselectively actuate the linear actuator 104. In one or more examples,the actuator-controller 112 is situated on (e.g., coupled to) the linearactuator 104, such as to the actuator-control handle 230. In one or moreexamples, the actuator-controller 112 is situated on (e.g., coupled to)the creeper 102, such as to the frame 150.

In one or more examples, the step of (block 2004) moving the surfacepreparation tool 110 into operational contact with the low-profilesurface 200 includes a step of pivotally moving the linear actuator 104relative to the creeper 102 about the pivotal-motion axis 116 of thepivotal coupling 122 that couples the base-end 106 of the linearactuator 104 to the creeper 102. Pivotally moving the linear actuator104 raises the surface preparation tool 110 into operational contactwith the low-profile surface 200. In these examples, a user force,applied by the user to the linear actuator 104, places the surfacepreparation tool 110 in operational contact with the low-profile surface200 and holds the surface preparation tool 110 in operational contactwith the low-profile surface 200.

In one or more examples, the method 2000 includes a step of (block2008), with the surface preparation tool 110 in operational contact withthe low-profile surface 200, selectively energizing the surfacepreparation tool 110.

In one or more examples, the step of (block 2008) selectively energizingthe surface preparation tool 110 includes a step of engaging thetool-controller 114 that is coupled to the surface preparation tool 110to energize the surface preparation tool 110. In one or more examples,the step of (block 2008) selectively energizing the surface preparationtool 110 includes a step of disengaging the tool-controller 114 toautomatically deenergize the surface preparation tool 110.

The tool-controller 114 is operable (e.g., configured) to selectivelyenergize the surface preparation tool 110. In one or more examples, thetool-controller 114 is situated on (e.g., coupled to) the linearactuator 104, such as to the tool-control handle 130. In one or moreexamples, the tool-controller 114 is situated on (e.g., coupled to) thecreeper 102, such as to the frame 150.

In one or more examples, the method 2000 includes a step of (block2010), with the surface preparation tool 110 in contact with thelow-profile surface 200 and energized, moving the surface preparationtool 110 across the low-profile surface 200 to perform the surfacepreparation operation on the low-profile surface 200.

In one or more examples, the step of (block 2010) moving the surfacepreparation tool 110 across the low-profile surface 200 includes a stepof (block 2012) rotationally moving the linear actuator 104 relative tothe creeper 102 about the rotational-motion axis 118 of the rotationalcoupling 124 that couples the base-end 106 of the linear actuator 104 tothe creeper 102. Rotationally moving the linear actuator 104 relative tothe creeper 102 about the rotational-motion axis 118 moves the surfacepreparation tool 110 across the low-profile surface 200 (e.g.,side-to-side).

In one or more examples, the step of (block 2010) moving the surfacepreparation tool 110 across the low-profile surface 200 includes a stepof (block 2014) linearly moving the linear actuator 104 relative to thecreeper 102 along the linear-motion axis 120 of the linear coupling 126that couples the base-end 106 of the linear actuator 104 to the creeper102. Linearly moving the linear actuator 104 relative to the creeper 102along the linear-motion axis 120 moves the surface preparation tool 110across the low-profile surface 200 (e.g., front-to-back).

In one or more examples, the step of (block 2010) moving the surfacepreparation tool 110 across the low-profile surface 200 includes a stepof (block 2016) pivotally moving the linear actuator 104 relative to thecreeper 102 about the pivotal-motion axis 116 of the pivotal coupling122 that couples the base-end 106 of the linear actuator 104 to thecreeper 102. Pivotally moving the linear actuator 104 raises or lowersthe surface preparation tool 110 to accommodate for changes in geometryof the low-profile surface 200 and to keep the surface preparation tool110 in operational contact with the low-profile surface 200. In theseexamples, the user force, applied by the user to the linear actuator104, holds the surface preparation tool 110 in operational contact withthe low-profile surface 200 as the geometry of the low-profile surface200 changes. In these examples, the user force, applied by the user tothe linear actuator 104, temporarily removes the surface preparationtool 110 from operational contact with the low-profile surface 200 toavoid obstructions on the low-profile surface 200.

In one or more examples, the step of (block 2012) rotationally movingthe linear actuator 104 and the step of (block 2014) linearly moving thelinear actuator 104 are performed concurrently. In one or more examples,the step of (block 2016) pivotally moving the linear actuator 104 isperformed concurrently with at least one of the step of (block 2012)rotationally moving the linear actuator 104 and the step of (block 2014)linearly moving the linear actuator 104.

In one or more examples, the method 2000 includes a step of (block 2018)biasing the linear actuator 104 at the biased angular orientationrelative to the horizontal plane using the biasing device 128 that iscoupled to the movable joint 164, such as the pivotal coupling 122, andto the linear actuator 104. Biasing the linear actuator 104 at thebiased angular orientation also biases the linear actuator 104 and,thus, the surface preparation tool 110 toward the low-profile surface200 when the linear actuator 104 is pivoted downwardly, such as inresponse to variations on the geometry of the low-profile surface 200.In these examples, the bias force, applied by the biasing device 128 tothe linear actuator 104, holds the surface preparation tool 110 inoperational contact with the low-profile surface 200 as the geometry ofthe low-profile surface 200 changes.

Biasing the linear actuator 104 at the biased angular orientation alsobiases the linear actuator 104 and, thus, the surface preparation tool110 away from the creeper 102 and, thus, the user, which serves as asafety mechanism that prevents the linear actuator 104 and/or thesurface preparation tool 110 from falling into the creeper 102 or theuser when the linear actuator 104 isn't being actively held orcontrolled by the user.

By way of the illustrative examples, the disclosed apparatus 100 ispneumatically powered. However, the disclosed apparatus 100 is notnecessarily limited to pneumatic power. In one or more other examples,where appropriate, one or more pneumatic components may be replaced orinterchanged with electro-mechanical components and/or hydrauliccomponents. Accordingly, it should be appreciated that one or morepneumatic components of the apparatus 100, such as one or more pneumaticcomponents of the linear actuator 104, the actuator-controller 112,and/or the tool-controller 114, may be omitted or interchanged with oneor more suitable electro-mechanical components and/or hydrauliccomponents where appropriate.

Example implementations described herein may relate to surfacepreparation of an underside or underbelly structure of an aircraft. Morespecifically, the surface preparation support apparatuses and methods ofmaking and operating the same may be implemented by an originalequipment manufacturer (OEM) for assembling airplane structures incompliance with military and space regulations.

Referring now to FIGS. 13 and 14 examples of the surface preparationsupport apparatus 100, the method 1000, and the method 2000 may be usedin the context of an aircraft manufacturing and service method 1100, asshown in the flow diagram of FIG. 13 and an aircraft 1200, asschematically illustrated in FIG. 14 .

Referring to FIG. 14 , in one or more examples, the aircraft 1200includes an airframe 1202, an interior 1206, and a plurality ofhigh-level systems 1204. Examples of the high-level systems 1204 includeone or more of a propulsion system 1208, an electrical system 1210, ahydraulic system 1212, and an environmental system 1214. In otherexamples, the aircraft 1200 may include any number of other types ofsystems, such as a communications system, a guidance system, and thelike. The surface preparation support apparatus 100 designed and made inaccordance with the method 1000 and used in accordance with the method2000 may be utilized during one or more surface preparation operationsperformed on a structure, an assembly, a sub-assembly, a component, apart, or any other portion of the aircraft 1200, such as a portion ofthe airframe 1202, such as a portion of the fuselage or the wings of theaircraft 1200.

Referring to FIG. 13 during pre-production, the method 1100 includesspecification and design of the aircraft 1200 (block 1102) and materialprocurement (block 1104). During production of the aircraft 1200,component and subassembly manufacturing (block 1106) and systemintegration (block 1108) of the aircraft 1200 take place. Thereafter,the aircraft 1200 goes through certification and delivery (block 1110)to be placed in service (block 1112). Routine maintenance and service(block 1114) includes modification, reconfiguration, refurbishment, etc.of one or more systems of the aircraft 1200.

Each of the processes of the method 1100 illustrated in FIG. 13 may beperformed or carried out by a system integrator, a third party, and/oran operator (e.g., a customer). For the purposes of this description, asystem integrator may include, without limitation, any number ofspacecraft manufacturers and major-system subcontractors; a third partymay include, without limitation, any number of vendors, subcontractors,and suppliers; and an operator may be an airline, leasing company,military entity, service organization, and so on.

Examples of the surface preparation support apparatus 100 and the method2000 shown and described herein may be employed during any one or moreof the stages of the manufacturing and service method 1100 shown in theflow diagram illustrated by FIG. 13 . In an example, implementation ofthe disclosed surface preparation support apparatus 100 and the method2000 may form a portion of component and subassembly manufacturing(block 1106) and/or system integration (block 1108). For example,assembly of the aircraft 1200 and/or components thereof usingimplementations of the disclosed surface preparation support apparatus100 and the method 2000 may correspond to component and subassemblymanufacturing (block 1106) and may be prepared in a manner similar tocomponents or subassemblies prepared while the aircraft 1200 is inservice (block 1112). Also, implementations of the disclosed surfacepreparation support apparatus 100 and the method 2000 may be utilizedduring system integration (block 1108) and certification and delivery(block 1110). Similarly, implementations of the disclosed surfacepreparation support apparatus 100 and the method 2000 may be utilized,for example and without limitation, while the aircraft 1200 is inservice (block 1112) and during maintenance and service (block 1114).

Although an aerospace (e.g., aircraft or spacecraft) example is shown,the examples and principles disclosed herein may be applied to otherindustries, such as the automotive industry, the construction industry,the wind turbine industry, and other design and manufacturingindustries. Accordingly, in addition to aircraft and spacecraft, theexamples and principles disclosed herein may apply to surfacepreparation of other vehicles (e.g., land vehicles, marine vehicles,construction vehicles, etc.), machinery, and stand-alone structures thathave a low-profile surface.

As used herein, a system, apparatus, device, structure, article,element, component, or hardware “configured to” perform a specifiedfunction is indeed capable of performing the specified function withoutany alteration, rather than merely having potential to perform thespecified function after further modification. In other words, thesystem, apparatus, device, structure, article, element, component, orhardware “configured to” perform a specified function is specificallyselected, created, implemented, utilized, programmed, and/or designedfor the purpose of performing the specified function. As used herein,“configured to” denotes existing characteristics of a system, apparatus,structure, article, element, component, or hardware that enable thesystem, apparatus, structure, article, element, component, or hardwareto perform the specified function without further modification. Forpurposes of this disclosure, a system, apparatus, device, structure,article, element, component, or hardware described as being “configuredto” perform a particular function may additionally or alternatively bedescribed as being “adapted to” and/or as being “operative to” performthat function.

Unless otherwise indicated, the terms “first,” “second,” “third,” etc.are used herein merely as labels, and are not intended to imposeordinal, positional, or hierarchical requirements on the items to whichthese terms refer. Moreover, reference to, e.g., a “second” item doesnot require or preclude the existence of, e.g., a “first” orlower-numbered item, and/or, e.g., a “third” or higher-numbered item.

For the purpose of this disclosure, the terms “coupled,” “coupling,” andsimilar terms refer to two or more elements that are joined, linked,fastened, attached, connected, put in communication, or otherwiseassociated (e.g., mechanically, electrically, fluidly, optically,electromagnetically) with one another. In various examples, the elementsmay be associated directly or indirectly. As an example, element A maybe directly associated with element B. As another example, element A maybe indirectly associated with element B, for example, via anotherelement C. It will be understood that not all associations among thevarious disclosed elements are necessarily represented. Accordingly,couplings other than those depicted in the figures may also exist.

As used herein, the term “approximately” refers to or represent acondition that is close to, but not exactly, the stated condition thatstill performs the desired function or achieves the desired result. Asan example, the term “approximately” refers to a condition that iswithin an acceptable predetermined tolerance or accuracy. For example,the term “approximately” refers to a condition that is within 10% of thestated condition. However, the term “approximately” does not exclude acondition that is exactly the stated condition.

Those skilled in the art will appreciate that some of the elements,features, and/or components described and illustrated in FIGS. 1-10 and14 , referred to above, may be combined in various ways without the needto include other features described and illustrated in FIGS. 1-10 and 14, other drawing figures, and/or the accompanying disclosure, even thoughsuch combination or combinations are not explicitly illustrated herein.Similarly, additional features not limited to the examples presented,may be combined with some or all of the features shown and describedherein. Unless otherwise explicitly stated, the schematic illustrationsof the examples depicted in FIGS. 1-10 and 14 , referred to above, arenot meant to imply structural limitations with respect to theillustrative example. Rather, although one illustrative structure isindicated, it is to be understood that the structure may be modifiedwhen appropriate. Accordingly, modifications, additions and/or omissionsmay be made to the illustrated structure. Additionally, those skilled inthe art will appreciate that not all elements described and illustratedin FIGS. 1-10 and 14 , referred to above, need be included in everyexample and not all elements described herein are necessarily depictedin each illustrative example.

In FIGS. 11-13 , referred to above, the blocks may represent operations,steps, and/or portions thereof and lines connecting the various blocksdo not imply any particular order or dependency of the operations orportions thereof. It will be understood that not all dependencies amongthe various disclosed operations are necessarily represented. FIGS.11-13 , referred to above, and the accompanying disclosure describingthe operations of the disclosed methods set forth herein should not beinterpreted as necessarily determining a sequence in which theoperations are to be performed. Rather, although one illustrative orderis indicated, it is to be understood that the sequence of the operationsmay be modified when appropriate. Accordingly, modifications, additionsand/or omissions may be made to the operations illustrated and certainoperations may be performed in a different order or simultaneously.Additionally, those skilled in the art will appreciate that not alloperations described need be performed.

Further, references throughout the present specification to features,advantages, or similar language used herein do not imply that all of thefeatures and advantages that may be realized with the examples disclosedherein should be, or are in, any single example. Rather, languagereferring to the features and advantages is understood to mean that aspecific feature, advantage, or characteristic described in connectionwith an example is included in at least one example. Thus, discussion offeatures, advantages, and similar language used throughout the presentdisclosure may, but do not necessarily, refer to the same example.

The described features, advantages, and characteristics of one examplemay be combined in any suitable manner in one or more other examples.One skilled in the relevant art will recognize that the examplesdescribed herein may be practiced without one or more of the specificfeatures or advantages of a particular example. In other instances,additional features and advantages may be recognized in certain examplesthat may not be present in all examples. Furthermore, although variousexamples of the surface preparation support apparatus 100 and themethods 1000 and 2000 have been shown and described, modifications mayoccur to those skilled in the art upon reading the specification. Thepresent application includes such modifications and is limited only bythe scope of the claims.

What is claimed is:
 1. A surface preparation support apparatuscomprising: a creeper; a linear actuator comprising: a base-end coupledto the creeper; and a tool-end opposite the base-end and linearlymovable relative to the base-end; a surface preparation tool that iscoupleable to the tool-end of the linear actuator; anactuator-controller coupled to the linear actuator, wherein theactuator-controller is operable to selectively actuate the linearactuator; and a tool-controller configured to be coupled to a surfacepreparation tool that is coupleable to the tool-end of the linearactuator, wherein the tool-controller is operable to selectivelyenergize the surface preparation tool.
 2. The apparatus of claim 1,wherein the linear actuator is pivotally movable relative to the creeperabout a pivotal-motion axis that is approximately horizontal.
 3. Theapparatus of claim 2, further comprising a pivotal coupling coupled tothe creeper and forming the pivotal-motion axis, wherein the base-end ofthe linear actuator is coupled to the pivotal coupling.
 4. The apparatusof claim 3, further comprising a biasing device coupled to the pivotalcoupling and the linear actuator, wherein the biasing device isconfigured to bias the linear actuator at a biased angular orientationrelative to a horizontal plane.
 5. The apparatus of claim 1, wherein thelinear actuator is rotationally movable relative to the creeper about arotational-motion axis that is approximately vertical.
 6. The apparatusof claim 5, further comprising a rotational coupling coupled to thecreeper and forming the rotational-motion axis, wherein the base-end ofthe linear actuator is coupled to the rotational coupling.
 7. Theapparatus of claim 1, wherein the linear actuator is linearly movablerelative to the creeper along a linear-motion axis that is approximatelyhorizontal.
 8. The apparatus of claim 7, further comprising a linearcoupling coupled to the creeper and forming the linear-motion axis,wherein the base-end of the linear actuator is coupled to the linearcoupling.
 9. The apparatus of claim 1, further comprising: a rotationalcoupling coupled to the creeper and having a rotational-motion axis; anda pivotal coupling coupled to the rotational coupling and having apivotal-motion axis; and wherein: the base-end of the linear actuator iscoupled to the pivotal coupling; the linear actuator is pivotallymovable about the pivotal-motion axis relative to the creeper; and thelinear actuator is rotationally movable about the rotational-motion axisrelative to the creeper.
 10. The apparatus of claim 9, furthercomprising a biasing device coupled to the pivotal coupling and thelinear actuator, wherein the biasing device is configured to bias thelinear actuator at a biased angular orientation relative to a horizontalplane.
 11. The apparatus of claim 9, further comprising a linearcoupling coupled to the creeper and having a linear-motion axis; andwherein: the rotational coupling is coupled to the linear coupling; andthe linear actuator is linearly movable along the linear-motion axisrelative to the creeper.
 12. A surface preparation support apparatuscomprising: a creeper; a linear actuator comprising: a base-end coupledto the creeper; and a tool-end opposite the base-end and linearlymovable relative to the base-end; a tool-mount coupled to the tool-endof the linear actuator, wherein a surface preparation tool is coupleableto the tool-mount; an actuator-controller coupled to the linear actuatorand operable to selectively actuate the linear actuator; and atool-controller configured to be coupled to the surface preparation tooland operable to selectively energize the surface preparation tool. 13.The apparatus of claim 12, further comprising: a rotational couplingcoupled to the creeper and having a rotational-motion axis; and apivotal coupling coupled to the rotational coupling and having apivotal-motion axis; and wherein: the base-end of the linear actuator iscoupled to the pivotal coupling; the linear actuator is pivotallymovable about the pivotal-motion axis relative to the creeper; and thelinear actuator is rotationally movable about the rotational-motion axisrelative to the creeper.
 14. The apparatus of claim 13, furthercomprising a biasing device coupled to the pivotal coupling and thelinear actuator, wherein the biasing device is configured to bias thelinear actuator at a biased angular orientation relative to a horizontalplane.
 15. The apparatus of claim 13, further comprising a linearcoupling coupled to the creeper and having a linear-motion axis; andwherein: the rotational coupling is coupled to the linear coupling; andthe linear actuator is linearly movable along the linear-motion axisrelative to the creeper.
 16. The apparatus of claim 15, wherein: therotational-motion axis is approximately perpendicular to thelinear-motion axis; and the pivotal-motion axis is approximatelyperpendicular to the rotational-motion axis.
 17. A method of making asurface preparation support apparatus, the method comprising: coupling abase-end of a linear actuator to a creeper; coupling anactuator-controller to the linear actuator, the actuator-controllerbeing operable to selectively actuate the linear actuator such that atool-end of the linear actuator moves relative to the base-end of thelinear actuator; coupling a tool-mount to the tool-end of the linearactuator, the tool-mount being configured for attachment of a surfacepreparation tool; and configuring a tool-controller to be coupled to thesurface preparation tool, the tool-controller being operable toselectively energize the surface preparation tool.
 18. The method ofclaim 17, wherein coupling the base-end of the linear actuator to thecreeper comprises: coupling a rotational coupling to the creeper;coupling a pivotal coupling to the rotational coupling; and coupling thebase-end of the linear actuator to the pivotal coupling so that thelinear actuator is pivotally movable relative to the creeper about apivotal-motion axis of the pivot coupling and is rotationally movablerelative to the creeper about a rotational-motion axis of the rotationalcoupling.
 19. The method of claim 18, further comprising coupling abiasing device to the pivotal coupling and the linear actuator, whereinthe biasing device is configured to bias the linear actuator at a biasedangular orientation relative to a horizontal plane.
 20. The method ofclaim 18, wherein coupling the base-end of the linear actuator to thecreeper further comprises: coupling a linear coupling to the creeper;and coupling the rotational coupling to the linear coupling so that thelinear actuator is linearly movable relative to the creeper about alinear-motion axis of the linear coupling.